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EP3325923B1 - Débitmètre selon le principe de comptage de tourbillons - Google Patents

Débitmètre selon le principe de comptage de tourbillons Download PDF

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Publication number
EP3325923B1
EP3325923B1 EP16730433.6A EP16730433A EP3325923B1 EP 3325923 B1 EP3325923 B1 EP 3325923B1 EP 16730433 A EP16730433 A EP 16730433A EP 3325923 B1 EP3325923 B1 EP 3325923B1
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EP
European Patent Office
Prior art keywords
pressure
pressure fluctuation
measuring arrangement
fluctuation measuring
flowmeter
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
EP16730433.6A
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German (de)
English (en)
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EP3325923A1 (fr
Inventor
Vivek Kumar
Marc HOLLMACH
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Endress and Hauser Flowtec AG
Original Assignee
Endress and Hauser Flowtec AG
Flowtec AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication of EP3325923A1 publication Critical patent/EP3325923A1/fr
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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01F—MEASURING VOLUME, VOLUME FLOW, MASS FLOW OR LIQUID LEVEL; METERING BY VOLUME
    • G01F1/00—Measuring the volume flow or mass flow of fluid or fluent solid material wherein the fluid passes through a meter in a continuous flow
    • G01F1/05—Measuring the volume flow or mass flow of fluid or fluent solid material wherein the fluid passes through a meter in a continuous flow by using mechanical effects
    • G01F1/20—Measuring the volume flow or mass flow of fluid or fluent solid material wherein the fluid passes through a meter in a continuous flow by using mechanical effects by detection of dynamic effects of the flow
    • G01F1/32—Measuring the volume flow or mass flow of fluid or fluent solid material wherein the fluid passes through a meter in a continuous flow by using mechanical effects by detection of dynamic effects of the flow using swirl flowmeters
    • G01F1/3209—Measuring the volume flow or mass flow of fluid or fluent solid material wherein the fluid passes through a meter in a continuous flow by using mechanical effects by detection of dynamic effects of the flow using swirl flowmeters using Karman vortices
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01F—MEASURING VOLUME, VOLUME FLOW, MASS FLOW OR LIQUID LEVEL; METERING BY VOLUME
    • G01F1/00—Measuring the volume flow or mass flow of fluid or fluent solid material wherein the fluid passes through a meter in a continuous flow
    • G01F1/05—Measuring the volume flow or mass flow of fluid or fluent solid material wherein the fluid passes through a meter in a continuous flow by using mechanical effects
    • G01F1/20—Measuring the volume flow or mass flow of fluid or fluent solid material wherein the fluid passes through a meter in a continuous flow by using mechanical effects by detection of dynamic effects of the flow
    • G01F1/32—Measuring the volume flow or mass flow of fluid or fluent solid material wherein the fluid passes through a meter in a continuous flow by using mechanical effects by detection of dynamic effects of the flow using swirl flowmeters
    • G01F1/325—Means for detecting quantities used as proxy variables for swirl
    • G01F1/3259—Means for detecting quantities used as proxy variables for swirl for detecting fluid pressure oscillations
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01F—MEASURING VOLUME, VOLUME FLOW, MASS FLOW OR LIQUID LEVEL; METERING BY VOLUME
    • G01F1/00—Measuring the volume flow or mass flow of fluid or fluent solid material wherein the fluid passes through a meter in a continuous flow
    • G01F1/05—Measuring the volume flow or mass flow of fluid or fluent solid material wherein the fluid passes through a meter in a continuous flow by using mechanical effects
    • G01F1/34—Measuring the volume flow or mass flow of fluid or fluent solid material wherein the fluid passes through a meter in a continuous flow by using mechanical effects by measuring pressure or differential pressure
    • G01F1/36—Measuring the volume flow or mass flow of fluid or fluent solid material wherein the fluid passes through a meter in a continuous flow by using mechanical effects by measuring pressure or differential pressure the pressure or differential pressure being created by the use of flow constriction
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01F—MEASURING VOLUME, VOLUME FLOW, MASS FLOW OR LIQUID LEVEL; METERING BY VOLUME
    • G01F1/00—Measuring the volume flow or mass flow of fluid or fluent solid material wherein the fluid passes through a meter in a continuous flow
    • G01F1/05—Measuring the volume flow or mass flow of fluid or fluent solid material wherein the fluid passes through a meter in a continuous flow by using mechanical effects
    • G01F1/34—Measuring the volume flow or mass flow of fluid or fluent solid material wherein the fluid passes through a meter in a continuous flow by using mechanical effects by measuring pressure or differential pressure
    • G01F1/36—Measuring the volume flow or mass flow of fluid or fluent solid material wherein the fluid passes through a meter in a continuous flow by using mechanical effects by measuring pressure or differential pressure the pressure or differential pressure being created by the use of flow constriction
    • G01F1/40—Details of construction of the flow constriction devices

Definitions

  • the present invention relates to a flow meter based on the vortex meter principle, which, for example, in Flow Manual, 4th edition 2003, ISBN 3-9520220-3-9, p. 103 ff . is described.
  • US 2009/211368 A1 discloses a vortex counter, with a specially shaped baffle to reduce flow-induced vibrations.
  • Flowmeters based on the vortex meter principle are based on the fact that vortices alternately detach from both sides of a flow-encircled obstacle in a pipeline and form a so-called Karman vortex street, the vortices leading to periodic pressure fluctuations that can be detected with pressure sensors or a paddle.
  • the eddy frequency of the vortices is proportional to the flow rate and the Strouhal number, a dimensionless index that has a weak dependence on the Reynolds number.
  • the Strouhal number can be assumed to be constant in the first approximation. In particular, this no longer applies to Reynolds numbers below 20,000, so that the flow rate determination model based on the vortex frequency has to be refined.
  • the flow meter according to the vortex meter principle comprises a measuring tube; a bluff body which is arranged in the measuring tube, the bluff body serving to cause a Karman vortex street with a flow-dependent vortex frequency when a fluid flows through the measuring tube; a first pressure fluctuation measuring arrangement for detecting pressure fluctuations caused by the vortex street and for providing pressure fluctuation-dependent signals; a second pressure fluctuation measuring arrangement for detecting pressure fluctuations caused by the vortex street and for providing pressure fluctuation-dependent signals; wherein the first pressure fluctuation measuring arrangement is spaced in the longitudinal direction of the measuring tube from the second pressure fluctuation measuring arrangement; an evaluation unit which is set up to determine a swirl frequency and, depending on the swirl frequency, a flow measurement value on the basis of the signals of at least one of the pressure fluctuation measuring arrangements; wherein according to the invention the evaluation unit is also set up to determine the current Reynolds number of the medium flowing in the measuring tube on the basis of the ratio of the amplitudes of the signals of the first pressure fluctuation measuring arrangement and the second pressure
  • the evaluation unit is set up to determine the flow measurement value taking into account the determined Reynolds number.
  • At least one of the pressure fluctuation measuring arrangements comprises a paddle sensor, that is to say a sensor which has a paddle which projects into the measuring tube, the pressure fluctuations in the medium causing periodic pressure differences on both sides of the paddle, so that the paddle is deflected.
  • At least one of the pressure fluctuation measuring arrangements comprises at least one pressure tap in a measuring tube wall and / or the bluff body.
  • At least one of the pressure fluctuation measuring arrangements has a first differential pressure measuring arrangement, a first pressure tap and a second pressure tap, for detecting pressure differences caused by the vortex street and for providing signals dependent on differential pressure.
  • the second of the pressure fluctuation measuring arrangements has a second differential pressure measuring arrangement, with a third pressure tap and a fourth pressure tap, for detecting pressure differences caused by the vortex street and for providing signals dependent on differential pressure.
  • At least one pressure fluctuation measuring arrangement has a pressure tap and a differential pressure sensor with a first pressure input and a second pressure input, the second pressure input having a throttle, so that it has a different frequency-dependent transfer function for pressure fluctuations than the first pressure input, the first pressure input and the second pressure input are connected to the pressure tap, so that the signal of the differential pressure sensor essentially depends on the change in pressure over time (dp / dt).
  • the bluff body has a width b perpendicular to the longitudinal direction, the first pressure fluctuation measuring arrangement being spaced from the second pressure fluctuation measuring arrangement not less than one width b, in particular not less than two widths b, preferably not less than 3 widths b, in the longitudinal direction of the measuring tube is.
  • the evaluation unit is also set up to determine the kinematic viscosity of the medium flowing in the measuring tube from the current Reynolds number.
  • the method according to the invention is used to determine at least one physical parameter of a fluid by means of a flow meter based on the vortex meter principle, the flow meter comprising: a measuring tube for guiding a fluid in the longitudinal direction of the measuring tube; a bluff body which is arranged in the measuring tube, the bluff body serving to generate a Karman vortex street with a flow-dependent vortex frequency when a fluid flows through the measuring tube; a first pressure fluctuation measuring arrangement for detecting pressure fluctuations caused by the vortex street and for providing pressure fluctuation-dependent signals; a second pressure measuring arrangement for detecting pressure fluctuations caused by the vortex street and for providing signals which are dependent on pressure fluctuations; wherein the first pressure fluctuation measuring arrangement is spaced in the longitudinal direction of the measuring tube from the second pressure fluctuation measuring arrangement; the method comprising the steps of: flowing a fluid through the measuring tube; Detection of pressure fluctuations, which are caused by the vortex street of the flowing fluid, by means of the first pressure fluctuation measuring arrangement; Detection of
  • the method comprises determining a value of the Reynolds number of the fluid on the basis of the ratio of the amplitude signals of the first pressure fluctuation measuring arrangement and the second pressure fluctuation measuring arrangement; determining a value of the frequency of at least one of the signals of the pressure fluctuation measuring arrangement; and determining a flow measurement value as a function of the value of the frequency, taking into account the value of the Reynolds number.
  • the method further comprises determining the kinematic viscosity of the medium flowing in the measuring tube from the current value of the Reynolds number.
  • the illustrated embodiment of a flow measuring device 1 comprises a measuring tube 2 with an inner diameter d, in which a bluff body 4 with a width b is arranged, which in particular runs symmetrically to a plane of symmetry in which the longitudinal axis of the measuring tube runs.
  • the bluff body 4 is connected at both ends to the measuring tube 2.
  • the bluff body 4 serves to generate a Karman vortex street with a flow-dependent vortex frequency in a medium flowing in the measuring tube during measuring operation.
  • a first pressure fluctuation measuring arrangement comprises a first pressure sensor 12 and a second pressure sensor 14, which are arranged symmetrically to one another on the bluff body with respect to a pipe center plane.
  • a second pressure fluctuation measuring arrangement comprises a third pressure sensor 16 and a fourth pressure sensor 18, which are arranged symmetrically to one another on the lateral surface of the bluff body with respect to the above plane of symmetry.
  • the pressure sensors 16, 18 of the second pressure fluctuation measuring arrangement are arranged at a distance x in the flow direction from the pressure sensors 12, 14 of the first pressure fluctuation measuring arrangement, which is a multiple of the width b of the bluff body, in particular where 1 ⁇ x / b ⁇ 10 Sufficiently fast acquisition of measured values is available, for example, from Kulite.
  • the pressure sensors can, on the one hand, be absolute pressure or relative pressure sensors, which each measure the media pressure in relation to vacuum or atmospheric pressure, or dynamic pressure sensors, which feed the media pressure to the two sides of a measuring membrane of the dynamic pressure sensor with different time constants, which means that pressure fluctuations are recorded immediately.
  • absolute pressure or relative pressure sensors which each measure the media pressure in relation to vacuum or atmospheric pressure
  • dynamic pressure sensors which feed the media pressure to the two sides of a measuring membrane of the dynamic pressure sensor with different time constants, which means that pressure fluctuations are recorded immediately.
  • the difference between the signals of the two pressure sensors of a pressure fluctuation measuring arrangement is used to determine the vortex frequency.
  • the pressure fluctuation measuring arrangements can each have a differential pressure sensor, which detects the difference between the respective pressure at two pressure tapping points arranged symmetrically to the above plane of symmetry, for which purpose differential pressure lines or hydraulic lines are to be provided with the smallest possible time constant between the pressure tapping points and the differential pressure sensor.
  • the flow measuring device further comprises an operating and evaluation unit 20 for evaluating the signals of the pressure fluctuation measuring arrangements.
  • the operating and evaluation unit 20 can have, for example, first and second subtraction circuits 22, 24, each of which forms a difference signal from the signals from the pressure sensors of the first and second pressure fluctuation measuring arrangements.
  • the operating and evaluation unit 20 further comprises a signal processor 26 which is connected to the outputs of the subtraction circuits and is set up to determine the detachment frequency f of the vertebrae on the basis of the time course of at least one of the difference signals.
  • the signal processor is set up to determine the amplitudes of the differential signals and to use them to calculate an amplitude quotient of the amplitudes A 2 / A 1 of the differential signals of the first or second pressure fluctuation measuring arrangement.
  • the operating and evaluation unit 20 is also set up to determine a current value for the Reynolds number on the basis of the amplitude quotient, on the basis of which the Strouhal number is determined with whose help is then used to calculate a flow velocity or a volume flow rate v based on the separation frequency f of the eddies.
  • the illustrated embodiment of a flow measuring device 101 comprises a measuring tube 102 in which a bluff body 102 is arranged, which in particular runs symmetrically to a plane of symmetry in which the longitudinal axis of the measuring tube runs.
  • the bluff body 104 is connected at both ends to the measuring tube 102.
  • the bluff body 104 serves to generate a Karman vortex street with a flow-dependent vortex frequency in a medium flowing in the measuring tube during measurement operation.
  • the flow measuring device 101 has a first and a second pressure fluctuation measuring arrangement 112, 116 for detecting pressure fluctuations which are caused by the vortex street.
  • the first pressure fluctuation measuring arrangement 112 has a paddle which is arranged symmetrically with respect to the above plane of symmetry and can be deflected perpendicularly to this plane of symmetry by means of the vortices, as indicated by the double arrow in the drawing.
  • the second pressure fluctuation measuring arrangement 116 likewise has a paddle which is arranged symmetrically with respect to the above plane of symmetry and can be deflected perpendicularly to this plane of symmetry by means of the vortices, as indicated by the double arrow in the drawing.
  • the two pressure fluctuation measuring arrangements 112, 116 each comprise an electrical converter, in particular a differential capacitive converter, a piezoelectric converter, and one inductive transducer or a resistive transducer to convert the deflections of the paddles into an electrical signal.
  • the flow measuring device further comprises an operating and evaluation unit 120 for evaluating the signals of the pressure fluctuation measuring arrangements 112, 116.
  • the operating and evaluation unit 120 comprises a first and second preamplifier 122, 124, which each process the primary signals of an electrical converter of one of the two pressure fluctuation measuring arrangements.
  • the operating and evaluation unit 120 further comprises a signal processor 126 which is connected to the outputs of the preamplifiers 122, 124 and is set up to determine the detachment frequency f of the eddies on the basis of the time course of at least one of the output signals of the preamplifiers.
  • the signal processor is set up to determine the amplitudes of the output signals and to use them to calculate an amplitude quotient of the amplitudes A 2 / A 1 of the difference signals of the first or second pressure fluctuation measuring arrangement.
  • the operating and evaluation unit 120 is also set up to determine a current value for the Reynolds number on the basis of the amplitude quotient, on the basis of which the Strouhal number is determined, with the aid of which a flow velocity or a volume flow rate v is then calculated on the basis of the separation frequency f of the vortex will.
  • Fig. 3a shows a relationship between the Reynolds number and the quotient of the amplitudes of the signals of two pressure fluctuation sensors as a function of their position.
  • the pressure fluctuations at the staggered locations in the measuring tube of several pressure fluctuation sensors for the in Fig. 3b shown experimental flow meter 201 determined. Then the amplitude of the signal of a pressure fluctuation sensor (S2, S3, S4, S5) arranged in the measuring tube 202 and further distant from a bluff body 204 was divided by the amplitude of the signal of a pressure fluctuation sensor S1 close to the bluff body 204. The resulting quotient is in Fig. 3a represented as a function of the Reynolds number for various pressure fluctuation sensors (S2, S3, S4, S5), the line type for representing the amplitude ratio in Fig. 3a , the line type for displaying the sensor position in Fig. 3b corresponds.
  • the operating and evaluation unit of a measuring device accordingly has the reverse function of one of the in Fig. 3a functions shown in order to determine a current value for the Reynolds number Re on the basis of the amplitude ratio of the signals of its pressure fluctuation sensors determined in the measurement mode.
  • the Strouhal number can be determined via the Reynolds number, which is included in the proportionality factor for determining the flow velocity on the basis of the vortex frequency.
  • 3c shows schematically the relationship between the Strouhal number and the Reyynolds number for flowmeters based on the vortex meter principle.
  • the Strouhal number can of course be determined specifically as a function of the Reynolds number, and the determined relationship is to be implemented in the operating and evaluation unit. In principle, the relationship determined should have a similar course to that in Fig. 3c shown.

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  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • General Physics & Mathematics (AREA)
  • Measuring Volume Flow (AREA)

Claims (12)

  1. Débitmètre (1, 101) selon le principe du débitmètre vortex, comprenant
    un tube de mesure (2, 102) destiné à guider un fluide dans le sens longitudinal du tube de mesure ;
    un corps de retenue (4, 104), lequel est disposé dans le tube de mesure (2, 102), le corps de retenue servant à générer une allée de tourbillons selon Karman avec une fréquence des tourbillons dépendant du débit ;
    un premier dispositif de mesure de fluctuation de pression (12, 14, 112) destiné à la mesure de fluctuations de pression, qui sont provoquées par l'allée de tourbillons, et destiné à fournir des signaux dépendant des fluctuations de pression ;
    un deuxième dispositif de mesure de fluctuation de pression (16, 18, 116) destiné à la mesure de fluctuations de pression, qui sont provoquées par l'allée de tourbillons, et destiné à fournir des signaux dépendant des fluctuations de pression ;
    le premier dispositif de mesure de fluctuation de pression (12, 14, 112) étant espacé du deuxième dispositif de mesure de fluctuation de pression (16, 18, 116) dans le sens longitudinal du tube de mesure ;
    une unité d'exploitation (20, 120), laquelle est configurée de telle sorte à déterminer, sur la base des signaux d'au moins l'un des dispositifs de mesure de fluctuation de pression, une fréquence de tourbillons et une valeur mesurée de débit en fonction de la fréquence des tourbillons ;
    caractérisé
    en ce que l'unité d'exploitation (20, 120) est configurée en outre de telle sorte à déterminer, sur la base du rapport des amplitudes des signaux du premier dispositif de mesure de fluctuation de pression (12, 14, 112) et du deuxième dispositif de mesure de fluctuation de pression (16, 18, 116).
  2. Débitmètre selon la revendication 1, pour lequel l'unité d'exploitation (20, 120) est conçue de telle sorte à déterminer la valeur mesurée de débit en tenant compte du nombre de Reynolds.
  3. Débitmètre selon la revendication 1 ou 2, pour lequel au moins l'un des dispositifs de mesure de fluctuation de pression (112, 116) comprend un capteur à ailettes.
  4. Débitmètre selon l'une des revendications précédentes, pour lequel au moins l'un des dispositifs de mesure de fluctuation de pression (12, 14, 16, 18) comprend au moins une prise de pression dans une paroi de tube de mesure et/ou dans le corps de retenue.
  5. Débitmètre selon l'une des revendications précédentes, pour lequel au moins l'un des dispositifs de mesure de fluctuation de pression comporte un premier dispositif de mesure de pression différentielle, avec une première prise de pression et une deuxième prise de pression, destiné à la mesure de différences de pression provoquées par l'allée de tourbillons, et destiné à fournir les signaux dépendant de la pression différentielle.
  6. Débitmètre selon la revendication 5, pour lequel le deuxième des dispositifs de mesure de fluctuation de pression comporte un deuxième dispositif de mesure de pression différentielle, avec une troisième prise de pression et une quatrième prise de pression, destiné à la mesure de différences de pression, qui sont provoquées par l'allée de tourbillons, et destiné à fournir des signaux dépendant de la pression différentielle.
  7. Débitmètre selon l'une des revendications 1 à 5, pour lequel au moins l'un des dispositifs de mesure de fluctuation de pression présente une prise de pression et un capteur de pression différentielle avec une première entrée de pression et avec une deuxième entrée de pression, la deuxième entrée de pression comportant un étrangleur, si bien qu'elle présente une autre fonction de transmission pour les fluctuations de pression par rapport à la première entrée de pression, la première entrée de pression et la deuxième entrée de pression étant raccordées à la prise de pression, de sorte que le signal du capteur de pression différentielle dépend pour l'essentiel de la variation dans le temps de la pression (dp/dt).
  8. Débitmètre selon l'une des revendications précédentes, pour lequel le corps de retenue présente perpendiculairement au sens longitudinal une largeur b, le premier dispositif de mesure de fluctuation de pression étant distant du deuxième dispositif de mesure de fluctuation de pression au moins d'une largeur b, notamment au moins de deux largeurs b, de préférence au moins de trois largeurs b.
  9. Débitmètre selon l'une des revendications précédentes, pour lequel l'unité d'exploitation (20, 120) est configurée en outre de telle sorte à déterminer, à partir du nombre de Reynolds actuel, la viscosité cinématique du produit s'écoulant dans le tube de mesure.
  10. Procédé destiné à la détermination au moins du nombre de Reynolds d'un fluide, au moyen d'un débitmètre selon l'une des revendications précédentes, le procédé comprenant les étapes suivantes :
    Écoulement d'un fluide à travers le tube de mesure ;
    Mesure des fluctuations de pression, qui sont provoquées par l'allée de tourbillons du fluide en écoulement, au moyen du premier dispositif de mesure de fluctuation de pression ;
    Mesure des fluctuations de pression, qui sont provoquées par l'allée de tourbillons du fluide en écoulement, au moyen du deuxième dispositif de mesure de fluctuation de pression ;
    Détermination d'une valeur actuelle du nombre de Reynolds sur la base du rapport entre les amplitudes des signaux du premier dispositif de mesure de fluctuation de pression et du deuxième dispositif de mesure de fluctuation de pression.
  11. Procédé selon la revendication 10, comprenant :
    Détermination d'une valeur du nombre de Reynolds du fluide sur la base du rapport entre les amplitudes des signaux du premier dispositif de mesure de fluctuation de pression et du deuxième dispositif de mesure de fluctuation de pression.
    Détermination d'une valeur de la fréquence d'au moins l'un des signaux du dispositif de mesure de fluctuation de pression ; et
    Détermination de la valeur de débit en fonction de la valeur de la fréquence en tenant compte de la valeur du nombre de Reynolds.
  12. Procédé selon l'une des revendications 10 ou 11, comprenant en outre :
    Détermination de la viscosité cinématique du produit s'écoulant dans le tube de mesure à partir de la valeur actuelle du nombre de Reynolds.
EP16730433.6A 2015-07-17 2016-06-22 Débitmètre selon le principe de comptage de tourbillons Active EP3325923B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102015111642.1A DE102015111642A1 (de) 2015-07-17 2015-07-17 Durchflussmessgerät nach dem Wirbelzählerprinzip
PCT/EP2016/064372 WO2017012811A1 (fr) 2015-07-17 2016-06-22 Débitmètre à effet vortex

Publications (2)

Publication Number Publication Date
EP3325923A1 EP3325923A1 (fr) 2018-05-30
EP3325923B1 true EP3325923B1 (fr) 2020-06-03

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EP16730433.6A Active EP3325923B1 (fr) 2015-07-17 2016-06-22 Débitmètre selon le principe de comptage de tourbillons

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US (1) US10724879B2 (fr)
EP (1) EP3325923B1 (fr)
CN (1) CN108351239B (fr)
DE (1) DE102015111642A1 (fr)
WO (1) WO2017012811A1 (fr)

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CN111609893B (zh) * 2020-05-13 2022-03-25 美智纵横科技有限责任公司 流量测量方法、装置、设备及扫地机
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Publication number Publication date
CN108351239A (zh) 2018-07-31
WO2017012811A1 (fr) 2017-01-26
US20190011297A1 (en) 2019-01-10
EP3325923A1 (fr) 2018-05-30
DE102015111642A1 (de) 2017-01-19
CN108351239B (zh) 2021-02-09
US10724879B2 (en) 2020-07-28

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